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<h1 id="sec_name">
<span data-if="hdevelop" style="display:inline;">pose_compose</span><span data-if="c" style="display:none;">T_pose_compose</span><span data-if="cpp" style="display:none;">PoseCompose</span><span data-if="dotnet" style="display:none;">PoseCompose</span><span data-if="python" style="display:none;">pose_compose</span> (算子名称)</h1>
<h2>名称</h2>
<p><code><span data-if="hdevelop" style="display:inline;">pose_compose</span><span data-if="c" style="display:none;">T_pose_compose</span><span data-if="cpp" style="display:none;">PoseCompose</span><span data-if="dotnet" style="display:none;">PoseCompose</span><span data-if="python" style="display:none;">pose_compose</span></code> — Combine 3D poses given in two tuples.</p>
<h2 id="sec_synopsis">参数签名</h2>
<div data-if="hdevelop" style="display:inline;">
<p>
<code><b>pose_compose</b>( :  : <a href="#PoseLeft"><i>PoseLeft</i></a>, <a href="#PoseRight"><i>PoseRight</i></a> : <a href="#PoseCompose"><i>PoseCompose</i></a>)</code></p>
</div>
<div data-if="c" style="display:none;">
<p>
<code>Herror <b>T_pose_compose</b>(const Htuple <a href="#PoseLeft"><i>PoseLeft</i></a>, const Htuple <a href="#PoseRight"><i>PoseRight</i></a>, Htuple* <a href="#PoseCompose"><i>PoseCompose</i></a>)</code></p>
</div>
<div data-if="cpp" style="display:none;">
<p>
<code>void <b>PoseCompose</b>(const HTuple&amp; <a href="#PoseLeft"><i>PoseLeft</i></a>, const HTuple&amp; <a href="#PoseRight"><i>PoseRight</i></a>, HTuple* <a href="#PoseCompose"><i>PoseCompose</i></a>)</code></p>
<p>
<code>static HPoseArray <a href="HPose.html">HPose</a>::<b>PoseCompose</b>(const HPoseArray&amp; <a href="#PoseLeft"><i>PoseLeft</i></a>, const HPoseArray&amp; <a href="#PoseRight"><i>PoseRight</i></a>)</code></p>
<p>
<code><a href="HPose.html">HPose</a> <a href="HPose.html">HPose</a>::<b>PoseCompose</b>(const HPose&amp; <a href="#PoseRight"><i>PoseRight</i></a>) const</code></p>
</div>
<div data-if="com" style="display:none;"></div>
<div data-if="dotnet" style="display:none;">
<p>
<code>static void <a href="HOperatorSet.html">HOperatorSet</a>.<b>PoseCompose</b>(<a href="HTuple.html">HTuple</a> <a href="#PoseLeft"><i>poseLeft</i></a>, <a href="HTuple.html">HTuple</a> <a href="#PoseRight"><i>poseRight</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#PoseCompose"><i>poseCompose</i></a>)</code></p>
<p>
<code>static <a href="HPose.html">HPose[]</a> <a href="HPose.html">HPose</a>.<b>PoseCompose</b>(<a href="HPose.html">HPose[]</a> <a href="#PoseLeft"><i>poseLeft</i></a>, <a href="HPose.html">HPose[]</a> <a href="#PoseRight"><i>poseRight</i></a>)</code></p>
<p>
<code><a href="HPose.html">HPose</a> <a href="HPose.html">HPose</a>.<b>PoseCompose</b>(<a href="HPose.html">HPose</a> <a href="#PoseRight"><i>poseRight</i></a>)</code></p>
</div>
<div data-if="python" style="display:none;">
<p>
<code>def <b>pose_compose</b>(<a href="#PoseLeft"><i>pose_left</i></a>: Sequence[Union[float, int]], <a href="#PoseRight"><i>pose_right</i></a>: Sequence[Union[float, int]]) -&gt; Sequence[Union[float, int]]</code></p>
</div>
<h2 id="sec_description">描述</h2>
<p><code><span data-if="hdevelop" style="display:inline">pose_compose</span><span data-if="c" style="display:none">pose_compose</span><span data-if="cpp" style="display:none">PoseCompose</span><span data-if="com" style="display:none">PoseCompose</span><span data-if="dotnet" style="display:none">PoseCompose</span><span data-if="python" style="display:none">pose_compose</span></code> combines the poses in the tuples, <a href="#PoseLeft"><i><code><span data-if="hdevelop" style="display:inline">PoseLeft</span><span data-if="c" style="display:none">PoseLeft</span><span data-if="cpp" style="display:none">PoseLeft</span><span data-if="com" style="display:none">PoseLeft</span><span data-if="dotnet" style="display:none">poseLeft</span><span data-if="python" style="display:none">pose_left</span></code></i></a> and
<a href="#PoseRight"><i><code><span data-if="hdevelop" style="display:inline">PoseRight</span><span data-if="c" style="display:none">PoseRight</span><span data-if="cpp" style="display:none">PoseRight</span><span data-if="com" style="display:none">PoseRight</span><span data-if="dotnet" style="display:none">poseRight</span><span data-if="python" style="display:none">pose_right</span></code></i></a>. If both tuples contain the same number of poses, the
corresponding elements of both tuples are composed. Otherwise, either tuple
<a href="#PoseLeft"><i><code><span data-if="hdevelop" style="display:inline">PoseLeft</span><span data-if="c" style="display:none">PoseLeft</span><span data-if="cpp" style="display:none">PoseLeft</span><span data-if="com" style="display:none">PoseLeft</span><span data-if="dotnet" style="display:none">poseLeft</span><span data-if="python" style="display:none">pose_left</span></code></i></a> or <a href="#PoseRight"><i><code><span data-if="hdevelop" style="display:inline">PoseRight</span><span data-if="c" style="display:none">PoseRight</span><span data-if="cpp" style="display:none">PoseRight</span><span data-if="com" style="display:none">PoseRight</span><span data-if="dotnet" style="display:none">poseRight</span><span data-if="python" style="display:none">pose_right</span></code></i></a> must contain only one pose.
In this case, the composition is performed for each pose of the longer tuple
with the single pose of the other tuple. For each composition, the poses are
interpreted as transformations of coordinate systems. The poses in tuple
<a href="#PoseCompose"><i><code><span data-if="hdevelop" style="display:inline">PoseCompose</span><span data-if="c" style="display:none">PoseCompose</span><span data-if="cpp" style="display:none">PoseCompose</span><span data-if="com" style="display:none">PoseCompose</span><span data-if="dotnet" style="display:none">poseCompose</span><span data-if="python" style="display:none">pose_compose</span></code></i></a> are therefore the result of applying the corresponding
poses in <a href="#PoseLeft"><i><code><span data-if="hdevelop" style="display:inline">PoseLeft</span><span data-if="c" style="display:none">PoseLeft</span><span data-if="cpp" style="display:none">PoseLeft</span><span data-if="com" style="display:none">PoseLeft</span><span data-if="dotnet" style="display:none">poseLeft</span><span data-if="python" style="display:none">pose_left</span></code></i></a> and <a href="#PoseRight"><i><code><span data-if="hdevelop" style="display:inline">PoseRight</span><span data-if="c" style="display:none">PoseRight</span><span data-if="cpp" style="display:none">PoseRight</span><span data-if="com" style="display:none">PoseRight</span><span data-if="dotnet" style="display:none">poseRight</span><span data-if="python" style="display:none">pose_right</span></code></i></a> in sequence.</p>
<p>
First, the respective poses in <a href="#PoseLeft"><i><code><span data-if="hdevelop" style="display:inline">PoseLeft</span><span data-if="c" style="display:none">PoseLeft</span><span data-if="cpp" style="display:none">PoseLeft</span><span data-if="com" style="display:none">PoseLeft</span><span data-if="dotnet" style="display:none">poseLeft</span><span data-if="python" style="display:none">pose_left</span></code></i></a> and <a href="#PoseRight"><i><code><span data-if="hdevelop" style="display:inline">PoseRight</span><span data-if="c" style="display:none">PoseRight</span><span data-if="cpp" style="display:none">PoseRight</span><span data-if="com" style="display:none">PoseRight</span><span data-if="dotnet" style="display:none">poseRight</span><span data-if="python" style="display:none">pose_right</span></code></i></a>
are transformed into the corresponding homogeneous transformation matrices
H1 and H2.
H1 is then multiplied with
H2. The resulting matrix
H1* H2 is converted
into a pose and returned at the corresponding index in tuple
<a href="#PoseCompose"><i><code><span data-if="hdevelop" style="display:inline">PoseCompose</span><span data-if="c" style="display:none">PoseCompose</span><span data-if="cpp" style="display:none">PoseCompose</span><span data-if="com" style="display:none">PoseCompose</span><span data-if="dotnet" style="display:none">poseCompose</span><span data-if="python" style="display:none">pose_compose</span></code></i></a>.</p>
<p>
If the respective poses in <a href="#PoseLeft"><i><code><span data-if="hdevelop" style="display:inline">PoseLeft</span><span data-if="c" style="display:none">PoseLeft</span><span data-if="cpp" style="display:none">PoseLeft</span><span data-if="com" style="display:none">PoseLeft</span><span data-if="dotnet" style="display:none">poseLeft</span><span data-if="python" style="display:none">pose_left</span></code></i></a> and <a href="#PoseRight"><i><code><span data-if="hdevelop" style="display:inline">PoseRight</span><span data-if="c" style="display:none">PoseRight</span><span data-if="cpp" style="display:none">PoseRight</span><span data-if="com" style="display:none">PoseRight</span><span data-if="dotnet" style="display:none">poseRight</span><span data-if="python" style="display:none">pose_right</span></code></i></a> have
different types, the default pose type 0 ('Rp+T', 'gba', 'point') is
returned. Otherwise, the returned poses have the same types as the poses
used for their composition.</p>
<h2 id="sec_execution">运行信息</h2>
<ul>
  <li>多线程类型:可重入(与非独占操作符并行运行)。</li>
<li>多线程作用域:全局(可以从任何线程调用)。</li>
  <li>未经并行化处理。</li>
</ul>
<h2 id="sec_parameters">参数表</h2>
  <div class="par">
<div class="parhead">
<span id="PoseLeft" class="parname"><b><code><span data-if="hdevelop" style="display:inline">PoseLeft</span><span data-if="c" style="display:none">PoseLeft</span><span data-if="cpp" style="display:none">PoseLeft</span><span data-if="com" style="display:none">PoseLeft</span><span data-if="dotnet" style="display:none">poseLeft</span><span data-if="python" style="display:none">pose_left</span></code></b> (input_control)  </span><span>pose(-array) <code>→</code> <span data-if="dotnet" style="display:none"><a href="HPose.html">HPose</a>, </span><span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[Union[float, int]]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong)</span></span>
</div>
<p class="pardesc">Tuple containing the left poses.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="PoseRight" class="parname"><b><code><span data-if="hdevelop" style="display:inline">PoseRight</span><span data-if="c" style="display:none">PoseRight</span><span data-if="cpp" style="display:none">PoseRight</span><span data-if="com" style="display:none">PoseRight</span><span data-if="dotnet" style="display:none">poseRight</span><span data-if="python" style="display:none">pose_right</span></code></b> (input_control)  </span><span>pose(-array) <code>→</code> <span data-if="dotnet" style="display:none"><a href="HPose.html">HPose</a>, </span><span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[Union[float, int]]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong)</span></span>
</div>
<p class="pardesc">Tuple containing the right poses.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="PoseCompose" class="parname"><b><code><span data-if="hdevelop" style="display:inline">PoseCompose</span><span data-if="c" style="display:none">PoseCompose</span><span data-if="cpp" style="display:none">PoseCompose</span><span data-if="com" style="display:none">PoseCompose</span><span data-if="dotnet" style="display:none">poseCompose</span><span data-if="python" style="display:none">pose_compose</span></code></b> (output_control)  </span><span>pose(-array) <code>→</code> <span data-if="dotnet" style="display:none"><a href="HPose.html">HPose</a>, </span><span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[Union[float, int]]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong)</span></span>
</div>
<p class="pardesc">Tuple containing the returned poses.</p>
</div>
<h2 id="sec_result">结果</h2>
<p><code><span data-if="hdevelop" style="display:inline">pose_compose</span><span data-if="c" style="display:none">pose_compose</span><span data-if="cpp" style="display:none">PoseCompose</span><span data-if="com" style="display:none">PoseCompose</span><span data-if="dotnet" style="display:none">PoseCompose</span><span data-if="python" style="display:none">pose_compose</span></code> returns <TT>2</TT> (
      <TT>H_MSG_TRUE</TT>)
     if all parameters are valid.
如有必要，将引发异常。</p>
<h2 id="sec_predecessors">可能的前置算子</h2>
<p>
<code><a href="read_pose.html"><span data-if="hdevelop" style="display:inline">read_pose</span><span data-if="c" style="display:none">read_pose</span><span data-if="cpp" style="display:none">ReadPose</span><span data-if="com" style="display:none">ReadPose</span><span data-if="dotnet" style="display:none">ReadPose</span><span data-if="python" style="display:none">read_pose</span></a></code>, 
<code><a href="hom_mat3d_to_pose.html"><span data-if="hdevelop" style="display:inline">hom_mat3d_to_pose</span><span data-if="c" style="display:none">hom_mat3d_to_pose</span><span data-if="cpp" style="display:none">HomMat3dToPose</span><span data-if="com" style="display:none">HomMat3dToPose</span><span data-if="dotnet" style="display:none">HomMat3dToPose</span><span data-if="python" style="display:none">hom_mat3d_to_pose</span></a></code>, 
<code><a href="create_pose.html"><span data-if="hdevelop" style="display:inline">create_pose</span><span data-if="c" style="display:none">create_pose</span><span data-if="cpp" style="display:none">CreatePose</span><span data-if="com" style="display:none">CreatePose</span><span data-if="dotnet" style="display:none">CreatePose</span><span data-if="python" style="display:none">create_pose</span></a></code>, 
<code><a href="convert_pose_type.html"><span data-if="hdevelop" style="display:inline">convert_pose_type</span><span data-if="c" style="display:none">convert_pose_type</span><span data-if="cpp" style="display:none">ConvertPoseType</span><span data-if="com" style="display:none">ConvertPoseType</span><span data-if="dotnet" style="display:none">ConvertPoseType</span><span data-if="python" style="display:none">convert_pose_type</span></a></code>, 
<code><a href="pose_invert.html"><span data-if="hdevelop" style="display:inline">pose_invert</span><span data-if="c" style="display:none">pose_invert</span><span data-if="cpp" style="display:none">PoseInvert</span><span data-if="com" style="display:none">PoseInvert</span><span data-if="dotnet" style="display:none">PoseInvert</span><span data-if="python" style="display:none">pose_invert</span></a></code>
</p>
<h2 id="sec_successors">可能的后置算子</h2>
<p>
<code><a href="convert_pose_type.html"><span data-if="hdevelop" style="display:inline">convert_pose_type</span><span data-if="c" style="display:none">convert_pose_type</span><span data-if="cpp" style="display:none">ConvertPoseType</span><span data-if="com" style="display:none">ConvertPoseType</span><span data-if="dotnet" style="display:none">ConvertPoseType</span><span data-if="python" style="display:none">convert_pose_type</span></a></code>
</p>
<h2 id="sec_alternatives">可替代算子</h2>
<p>
<code><a href="hom_mat3d_compose.html"><span data-if="hdevelop" style="display:inline">hom_mat3d_compose</span><span data-if="c" style="display:none">hom_mat3d_compose</span><span data-if="cpp" style="display:none">HomMat3dCompose</span><span data-if="com" style="display:none">HomMat3dCompose</span><span data-if="dotnet" style="display:none">HomMat3dCompose</span><span data-if="python" style="display:none">hom_mat3d_compose</span></a></code>, 
<code><a href="dual_quat_compose.html"><span data-if="hdevelop" style="display:inline">dual_quat_compose</span><span data-if="c" style="display:none">dual_quat_compose</span><span data-if="cpp" style="display:none">DualQuatCompose</span><span data-if="com" style="display:none">DualQuatCompose</span><span data-if="dotnet" style="display:none">DualQuatCompose</span><span data-if="python" style="display:none">dual_quat_compose</span></a></code>
</p>
<h2 id="sec_see">参考其它</h2>
<p>
<code><a href="pose_to_hom_mat3d.html"><span data-if="hdevelop" style="display:inline">pose_to_hom_mat3d</span><span data-if="c" style="display:none">pose_to_hom_mat3d</span><span data-if="cpp" style="display:none">PoseToHomMat3d</span><span data-if="com" style="display:none">PoseToHomMat3d</span><span data-if="dotnet" style="display:none">PoseToHomMat3d</span><span data-if="python" style="display:none">pose_to_hom_mat3d</span></a></code>, 
<code><a href="hom_mat3d_to_pose.html"><span data-if="hdevelop" style="display:inline">hom_mat3d_to_pose</span><span data-if="c" style="display:none">hom_mat3d_to_pose</span><span data-if="cpp" style="display:none">HomMat3dToPose</span><span data-if="com" style="display:none">HomMat3dToPose</span><span data-if="dotnet" style="display:none">HomMat3dToPose</span><span data-if="python" style="display:none">hom_mat3d_to_pose</span></a></code>, 
<code><a href="hom_mat3d_compose.html"><span data-if="hdevelop" style="display:inline">hom_mat3d_compose</span><span data-if="c" style="display:none">hom_mat3d_compose</span><span data-if="cpp" style="display:none">HomMat3dCompose</span><span data-if="com" style="display:none">HomMat3dCompose</span><span data-if="dotnet" style="display:none">HomMat3dCompose</span><span data-if="python" style="display:none">hom_mat3d_compose</span></a></code>
</p>
<h2 id="sec_module">模块</h2>
<p>
Foundation</p>
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